Tiffin Allegro or Winnebagos would be my choice. We use both systems and use a tow bar most of the time.
The dolly takes up more room, takes longer to load and unload but you can tow any front wheel drive vehicle with out any modification.
The tow bar always needs to have a base plate correctly installed.and a vehicle that is designed to be towed as a FROG (four rolling on ground). this can be either 2 or 4 wheel drive.
Does Honda allow you to tow your 2010 Honda Element Ex as a FROG with no modification. I suggest you check with a Honda dealer.
ENJOY THE RIDE!!!!